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We present a method for fast collision checking that is suitable for application in motion planning for intelligent vehicles. One of the difficulties that arises in this domain is the fact that typical, car-like autonomous vehicles cannot easily be approximated by a rotationally invariant disk shape. Instead, the orientation of the vehicle must be accounted for explicitly. Our proposal is to decompose...
Motion planning of deformable objects is challenging due to the high degrees-of-freedom inherent in deformation as well as the computational cost of producing physically accurate deformations. This paper develops a method for fast, physically plausible deformations using a sampling-based planner in a reduced dimensionality configuration space containing position, orientation, and a reduced deformation...
This paper presents an approach to time-optimal kinodynamic motion planning for a mobile robot. A global path planner is used to generate collision-free straight-line paths from the robot's position to a given goal location. With waypoints of this path, an initial trajectory is generated which defines the planned position of the robot over time. A velocity profile is computed that accounts for constraints...
We present a new pruning method for compact precomputed search trees and evaluate the effectiveness and the efficiency of our precomputation planning with steering sets. Precomputed search trees are one method for reducing planning time; however, there is a time-memory trade off. Our precomputed search tree (PCS) is built with pruning based on a rule of constant memory, the maximum-size pruning method...
This paper presents a multilayer scheme to control a formation of three mobile robots. Each layer works as an independent module, dealing with a specific part of the problem of formation control, thus giving to the system more flexibility. In order to reduce formation errors, the proposed architecture includes a layer which performs an adaptive dynamic compensation, using a robust updating law, which...
Simulation of crowd motions has great potential in many applications in robotics, games and animations. However, it is also a great challenge to be able to control the motion of a virtual crowd according to the intents of its designer such as making the crowd conform to a specific shape while avoiding collisions with other agents in the crowd or with obstacles. In this paper, we propose a simulation...
Trajectory planning and tracking are crucial tasks in any application using robot manipulators. These tasks become particularly difficult when obstacles are present in the manipulatorpsilas workspace. In this paper it is assumed that the obstacles can be approximated in a conservative way with discs. The goal is to represent the obstacles in the robot configuration space, in order to allow an efficient...
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